version: 66.10
glider: 163
mission: 3
dive: 4
start: 4 15 114 19 44 35
data:
$ID,163
$MISSION,3
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,80
$T_ABORT,720
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51722
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,1942
$TGT_DEFAULT_LON,11848
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1396714.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3886
$C_PITCH,2870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,198
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,1906
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.808033
$PRESSURE_SLOPE,0.00011605668
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,3.8499999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,83
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004370783
$SEABIRD_T_H,0.00063893938
$SEABIRD_T_I,2.6964792e-05
$SEABIRD_T_J,3.1314887e-06
$SEABIRD_C_G,-9.7295246
$SEABIRD_C_H,1.088999
$SEABIRD_C_I,-0.0021791991
$SEABIRD_C_J,0.00024473958
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_NOTIFYMOTORS,0.0
$GPS1,150414,193328,4743.263,-12223.752,1,1.1,36,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-66.7
$GPS2,150414,194327,4743.266,-12223.669,4,1.1,38,16.3
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,NORTH
$TGT_LATLONG,4744.000,-12224.500
$TGT_RADIUS,400.000
$KALMAN_CONTROL,-0.224,0.171
$KALMAN_X,514.9,258.5,236.6,-266.1,48.4
$KALMAN_Y,290.6,170.0,160.6,83.0,40.4
$MHEAD_RNG_PITCHd_Wd,291.0,1708,-15.8,-10.000
$D_GRID,42
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.01,-175.9,0.0,0.0,0,57,0.00,0.00,-40.33,0.000,2,0.000,0.000,130,1807,1737,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-1.01,-175.9,3.3,-6.6,6,98,10.12,2.30,-20.42,0.000,4,0.256,0.071,2538,393,2625,0,0,0,0,0,0,25.50,25.60,25.79
$GC,222,-1.01,-175.9,32.3,-15.3,37,230,0.00,2.17,0.00,0.000,6,0.000,0.037,2529,1797,2626,0,0,0,0,0,0,28.83,25.80,28.83
$STATE,283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,283,begin apogee
$GC,285,-0.25,0.0,42.1,-15.7,49,428,0.80,0.00,136.73,0.539,6,0.131,0.000,2780,1797,1905,0,0,0,0,0,0,25.72,28.83,24.51
$STATE,429,end apogee,CONTROL_FINISHED_OK
$STATE,429,begin climb
$GC,430,1.01,175.9,48.9,0.0,71,572,1.20,0.00,134.55,0.521,6,0.073,0.000,3189,1797,1187,0,0,0,0,0,0,24.94,28.83,24.44
$GC,631,1.01,175.9,37.3,10.8,105,632,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1797,1186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,691,1.01,175.9,31.1,10.5,117,699,0.00,2.30,0.00,0.000,4,0.000,0.058,3200,390,1185,0,0,0,0,0,0,28.83,25.40,28.83
$STATE,1032,end climb,SURFACE_DEPTH_REACHED
$STATE,1032,begin surface coast
$FINISH,0.8,1.020063
$STATE,1072,end surface coast,CONTROL_FINISHED_OK
$STATE,1072,begin surface
$SM_CCo,1089,104.62,0.433,1,0,601,320.11
$SM_GC,1.74,8.38,2.22,104.62,0.046,0.038,0.433,125,1814,601,-8.51,-0.85,320.11,0,0,0,0,1,0,25.84,25.82,24.73
$IRIDIUM_FIX,4751.72,-12340.51,150414,191948
$TT8_MAMPS,0.096621,0.096621
$HUMID,32.16
$INTERNAL_PRESSURE,8.88926
$TCM_TEMP,19.20
$MI_MIVER,0.4
$MI_ROOTFSVER,rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011
$MI_BOOTCOUNT,22
$MI_LOG,3.4/516036/498672
$MI_ROOT,70.5/190403/56160
$MI_HOME,2.3/436382/426182
$24V_AH,24.4,0.699
$10V_AH,10.5,0.404
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,20.500,9.000,271.275,104.625,0.000,31.588,38.597,161.455,0.000,1862.100,39.499,0.000,372.032,394.408,782.686,40.465,32.209,604.171,0.000,285.702,0.000,0.000,0.000
$DEVICE_MAMPS,255.510,71.145,538.560,432.990,0.000,60.440,160.000,223.000,0.000,42.470,30.710,0.000,0.390,12.960,38.430,45.170,63.140,17.000,0.000,16.480,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,126.414,0.000,0.000,0.000,0.000,0.000,1862.100,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,41.484,0.000,0.000,0.000
$MEM,198064
$DATA_FILE_SIZE,6807,193
$CAP_FILE_SIZE,27165,0
$CFSIZE,260034560,257880064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,150414,200518,4743.237,-12223.808,2,1.1,36,16.3